SAS Kuka Control Template

This is a control template for KUKA robotic manipulators. It relies on sas_robot_driver_kuka to communicate with the robot via Sunrise.FRI.

Docker¶

Simulation¶

https://github.com/user-attachments/assets/d0c00b59-8b45-4c11-9c85-6ec9807eda97

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_kuka_control_template/simulation_demo_v2
cd ~/sas_tutorial_workspace/docker/sas_kuka_control_template/simulation_demo_v2
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_kuka_control_template/refs/heads/main/docker/simulation_demo_v2/compose.yml

xhost +local:root
docker compose up

Real robot¶

https://github.com/user-attachments/assets/8340a929-487e-4ed7-b256-809f769bc446

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_kuka_control_template/robot_demo
cd ~/sas_tutorial_workspace/docker/sas_kuka_control_template/robot_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_kuka_control_template/refs/heads/main/docker/robot_demo/compose.yml

docker compose up

Real robot and simulation¶

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_kuka_control_template/robot_and_simulation_v2_demo
cd ~/sas_tutorial_workspace/docker/sas_kuka_control_template/robot_and_simulation_v2_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_kuka_control_template/refs/heads/main/docker/robot_and_simulation_v2_demo/compose.yml

xhost +local:root
docker compose up

Deprecated¶

Simulation using CoppeliaSim with zmq is deprecated.

Deprecated simulation¶

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_kuka_control_template/simulation_demo
cd ~/sas_tutorial_workspace/docker/sas_kuka_control_template/simulation_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_kuka_control_template/refs/heads/main/docker/simulation_demo/compose.yml

xhost +local:root
docker compose up

Deprecated real robot and simulation¶

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_kuka_control_template/robot_and_simulation_demo
cd ~/sas_tutorial_workspace/docker/sas_kuka_control_template/robot_and_simulation_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_kuka_control_template/refs/heads/main/docker/robot_and_simulation_demo/compose.yml

xhost +local:root
docker compose up